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\begin{document}\small
\begin{CJK}{UTF8}{gbsn}
\title[IACAS]{ORB-SLAM: DUO Stereo}
\author{陈天}
\institute[]{中国科学院\\自动化研究所}
\date[]{2017.10.30}
\begin{frame}
\titlepage
\end{frame}

\begin{frame}
%\frametitle{\small 代码主要结构}
\begin{figure}
\centering
\includegraphics[width=14.2cm,height=8cm]{ORB-SLAM.jpg}
\caption{}
\end{figure}
\end{frame}

\begin{frame}
\frametitle{\small 代码风格}
\begin{figure}[htb] 
  \begin{minipage}[b]{0.5\textwidth} 
		\centering
		\begin{tabular}{|c | c |}
		\hline
		线程控制 & \\ 
		\hline
		1 & {\color{red}DUOReader.cpp} \\2 & Tracking.cpp \\ 3 & LocalMapping.cpp \\ 4 & LoopClosing.cpp \\ 5 & Viewer.cpp \\ 6 & Global BA\\
		\hline
		\end{tabular}
  \end{minipage}% 
  \begin{minipage}[b]{0.5\textwidth} 
    \centering
    \begin{tabular}{|c | c|   }
    \hline
    变量命名规则 & \\ 
    \hline
    "m" & 类成员变量\\"p" & 指针数据类型 \\"b" & bool类型\\"v" & vector数据类型 \\"n"& int类型\\"s"& set类型\\"l"& list数据类型\\ "u" & 横坐标(mvuRight) \\
    \hline
    \end{tabular} 
  \end{minipage} 
\end{figure}
\end{frame}



\begin{frame}
%\frametitle{\small 程序入口}
\begin{figure}
\centering
\includegraphics[width=15cm,height=8cm]{system.png}
\caption{}
\end{figure}
\end{frame}

\begin{frame}
%\frametitle{\small Tracking线程}
\begin{figure}
\centering
\includegraphics[width=11.3cm,height=8cm]{Tracking.png}
\caption{}
\end{figure}
\end{frame}

\begin{frame}
%\frametitle{\small LocalMapping线程}
\begin{figure}
\centering
\includegraphics[width=8.85cm,height=8cm]{LocalMapping.png}
\caption{}
\end{figure}
\end{frame}

\begin{frame}
%\frametitle{\small LocalMapping线程}
\begin{figure}
\centering
\includegraphics[width=12.4cm,height=8cm]{LoopClosing-1.png}
\caption{}
\end{figure}
\end{frame}

\begin{frame}
%\frametitle{\small LocalMapping线程}
\begin{figure}
\centering
\includegraphics[width=9cm,height=8cm]{LoopClosing-2.png}
\caption{}
\end{figure}
\end{frame}

\begin{frame}
%\frametitle{\small LocalMapping线程}
\begin{figure}
\centering
\includegraphics[width=8.6cm,height=8cm]{Relocalization.png}
\caption{}
\end{figure}
\end{frame}

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\end{document}
